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AA.xml
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<RobotSystems>
<RobotCell name="AA-KR60" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-3" manufacturer="KUKA" payload="60">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="102"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<Positioner model="KP1-V500" manufacturer="KUKA" payload="500">
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/>
<!-- 2016 values <Base x="371" y="1410" z="21.8" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/> -->
<!-- <Base x="371" y="1410" z="700" q1="1" q2="0" q3="0" q4="0"/> -->
<!-- <Base x="371.1171" y="1410.435" z="-33.1927" q1="-0.99995" q2="-0.004848" q3="0.00041" q4="0.008704"/> -->
<Joints>
<Revolute number="7" a ="0" d ="705" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
</Joints>
</Positioner>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="AA-KR30" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR30-3" manufacturer="KUKA" payload="30">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="350" d ="815" minrange ="-185" maxrange ="185" maxspeed ="140"/>
<Revolute number="2" a ="850" d ="0" minrange ="-135" maxrange ="35" maxspeed ="126"/>
<Revolute number="3" a ="145" d ="0" minrange ="-120" maxrange ="158" maxspeed ="140"/>
<Revolute number="4" a ="0" d ="820" minrange ="-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange ="-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange ="-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="AA-KR60_KR30" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-3" manufacturer="KUKA" payload="60">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="102"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<Positioner model="KP1-V500" manufacturer="KUKA" payload="500">
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/>
<Joints>
<Revolute number="7" a ="0" d ="705" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
</Joints>
</Positioner>
</Mechanisms>
<Mechanisms group="1">
<RobotArm model="KR30-3" manufacturer="KUKA" payload="30">
<Base x="0.0" y="-2200.00" z="0.000" q1="1.0" q2="0.000" q3="0.000" q4="0.0"/>
<Joints>
<Revolute number="1" a ="350" d ="815" minrange ="-185" maxrange ="185" maxspeed ="140"/>
<Revolute number="2" a ="850" d ="0" minrange ="-135" maxrange ="35" maxspeed ="126"/>
<Revolute number="3" a ="145" d ="0" minrange ="-120" maxrange ="158" maxspeed ="140"/>
<Revolute number="4" a ="0" d ="820" minrange ="-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange ="-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange ="-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
</RobotSystems>